sdoConfig data with Etherlab
sirop opened this issue · comments
Your README says:
to get the sdoConfig data (which is needed to configure the
EL6751 in this case) is generated by TwinCAT by Beckhoff.
I just found out that you can do the same with Etherlab master:
$ ethercat debug 1
$ ethercat download -a 255 --type int16 0x6040 0 0x000f
And then:
$ dmesg -T | tail -10
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0: ecrt_master_sdo_download(master = 0xffff880136276000, slave_position = 0, index = 0x6040, subindex = 0x00, data = 0xffff8801382cf0a8, data_size = 2, abort_code = 0xffff880138a2fd40)
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0-0: Scheduling SDO download request.
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0-0: Processing SDO request...
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0-0: Downloading SDO 0x6040:00.
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG: 0F 00
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0-0: Expedited download request:
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG: 00 20 2B 40 60 00 0F 00 00 00
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0-0: Download response:
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG: 00 30 60 40 60 00 00 00 00 00
[Fri Nov 13 12:19:47 2015] EtherCAT DEBUG 0-0: Finished SDO request.
You can then identify 2B 40 60 00 0F 00 00 00 as a raw SDO message.
Of course, the problem of correct order of the SDO configuration messages does not go away thus,
but at least we do not need any TwinCAT.